JP2019068510A - Parameter determination support device - Google Patents

Abstract

To reduce time required for a determination by simplifying the determination of driving parameters when driving a motor with unknown circuit constants.SOLUTION: A parameter determination support device 11 comprises: initial parameter determination means 115 for determining initial parameters for a trial operation based on the specification information of a motor driving device 31 and the output specification information of a motor 41; program creation means 116 for creating a trial operation program to be used in a trial operation for obtaining data needed for adjusting parameters that determine the output of the motor 41 based on the output specification information of the motor 41; automatic measurement means 117 for automatically measuring the operation information when driving the motor 41 using the trial operation program with the initial parameters applied; estimation means 118 for estimating circuit constants of the motor 41 based on the operation information; and computation means 119 for computing optimum parameters in accordance with the output specification of the motor 41 based on the circuit constants.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a parameter determination support device.

  In order to control a servomotor used in a servomechanism included in a machine tool, a packaging machine, an industrial robot or the like, it is necessary to set a drive parameter for driving the servomotor to an appropriate value. As a method of setting this drive parameter, for example, Patent Document 1 acquires drive system parameters, operates the drive system with a test operation program generated according to the acquired parameters, and obtains operation data obtained during operation. Discloses a technique for adjusting controller parameters based on the result of analyzing.

JP 2003-316422 A

In Patent Document 1, it is assumed that circuit constants such as motor resistance value and inductance are known, but a motor whose circuit constant is unknown or a motor whose accuracy of the value presented as the circuit constant is unknown When driving, the initial parameters for trial operation are determined from known information such as the rated output of the motor and the base rotation speed, and data such as the current value and speed measured when performing the trial operation in a specific operation Based on this, it is necessary to determine the optimum drive parameter.
However, the procedure for determining the optimum drive parameter is complicated, and thus requires the skill of the operator, and the determination of the optimum drive parameter takes time.

  An object of the present invention is to provide a parameter determination support device capable of simplifying the determination of drive parameters and shortening the time required for determination when driving a motor whose circuit constant is unknown.

  (1) The motor drive parameter determination support apparatus (for example, parameter determination support apparatus 11 described later) according to the present invention includes the specification information of the motor drive apparatus (for example, motor drive apparatus 31 described later) and the motor (for example, Acquisition means for acquiring the output specification information of the motor 41) (for example, the acquisition unit 114 described later), and initial parameter determination means (for determining an initial parameter for trial operation based on the specification information and the output For example, based on an initial parameter determination unit 115 described later and the output specification information, a test operation program used for trial operation for acquiring data necessary for adjustment of parameters for determining an output of the motor is created. Program preparation means (for example, a program preparation unit 116 described later) and the initial parameters are applied to Automatic measurement means (for example, an automatic measurement unit 117 described later) which automatically measures operation information when the motor is driven by a transfer program, and estimation means which estimates a circuit constant of the motor based on the operation information For example, it includes an estimation unit 118 described later, and a calculation unit (for example, a calculation unit 119 described later) that calculates an optimum parameter according to the output specification of the motor based on the circuit constant.

  (2) In the parameter determination support device (for example, parameter determination support device 11 described later) described in (1), detection means (for example, detection unit 112 described later) for detecting the specification information, and the output specification information The acquisition unit (for example, an acquisition unit 114 described later) acquires the specification information from the detection unit, and the acquisition unit (for example, an acquisition unit 114 described later) acquires the specification information from the input unit. Output specification information may be acquired.

  (3) In the parameter determination support device (for example, parameter determination support device 11 described later) described in (1) or (2), the specification information includes the motor drive device (for example, motor drive device 31 described later) It may include at least one of an allowable current value and a drivable frequency.

  (4) In the parameter determination support device (for example, parameter determination support device 11 described later) described in (1) to (3), the output specification information is a rated output of the motor (for example, motor 41 described later) It may include at least one of the base rotation numbers.

  (5) In the parameter determination support device (for example, parameter determination support device 11 described below) described in (1) to (4), the circuit constant is the resistance value and inductance of the motor (for example, motor 41 described later) May include at least one of

  (6) In the parameter determination support device (for example, parameter determination support device 11 described later) described in (1) to (5), the driving information is when the motor (for example motor 41 described later) is driven. , Current value, voltage value, motor speed, and / or motor acceleration.

  (7) The parameter determination support device (for example, parameter determination support device 11 described later) described in (1) to (6) includes a display unit (for example, display unit 120 described later) that displays the measured operation information. You may provide further.

  According to the present invention, it is possible to simplify the determination of drive parameters when driving a motor whose circuit constant is unknown, and to shorten the time required for the determination.

FIG. 1 is a diagram showing an overall configuration of a motor drive system including a parameter determination assisting device according to an embodiment of the present invention. It is a figure which shows the structural example of the parameter determination assistance apparatus which concerns on embodiment of this invention. It is a figure showing an example of composition of a numerical control device concerning an embodiment of the present invention. It is a figure showing an example of composition of a motor drive concerning an embodiment of the present invention. It is a flowchart which shows operation | movement of the parameter determination assistance apparatus which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 5.
FIG. 1 shows an overall configuration of a motor drive system 1 including a parameter determination assisting device according to an embodiment of the present invention. The motor drive system 1 includes a numerical control device 21, a motor drive device 31, and a motor 41 in addition to the parameter determination support device 11.

The parameter determination support device 11 is based on the specification information of the motor drive device 31 received from the motor drive device 31 and the output specification information of the motor 41 input to the parameter determination support device 11 by the operator. While determining the initial parameters for trial operation, a trial operation program for performing a trial operation is created based on the specification information, the output specification information, and the initial parameters.
In order to estimate the circuit constant of the motor 41, data (driving information) such as a driving current value, a driving voltage value, and the number of rotations when the motor 41 is rotated or accelerated / decelerated at a constant rotation number Although it is necessary to confirm, "the test run" in this case is a test run for driving the motor 41 to check these data.
The “drive voltage value” is a voltage necessary to actually drive the motor 31 at a certain rotational speed, and is calculated based on the voltage of the main power source and the command value of the voltage. .
The “initial parameter” here is, for example, the feedback of the maximum current value for driving the motor 41, the D-phase current value, the maximum number of rotations of the motor 41, and the current value taken from the motor drive device 31 At least one of the coefficients to be converted to physical quantities is included.
Further, the “specification information” here includes, for example, at least one of the allowable current value and the drivable frequency of the motor drive device 31.
Also, the “output specification information” here includes, for example, at least one of the rated output of the motor 41 and the base rotational speed.

  Furthermore, the parameter determination assisting device 11 transmits the initial parameters and the test operation program to the numerical control device 21. The numerical control device 21 applies the initial parameters and executes the test run program to generate command values such as the position command value and the speed command value, and transmits the command values to the motor drive device 31 together with the initial parameters.

  The motor drive device 31 supplies the motor 41 with a drive current based on the initial parameter and the command value received from the numerical control device 21.

  The motor 41 transmits, to the motor drive device 31, feedback values such as speed information, position information, and the number of rotations.

  The motor drive device 31 transmits, to the parameter determination support device 11, operation information including the feedback value received from the motor 41, the drive current value, the command value to the motor 41, and the like. Here, the “operation information” includes, for example, at least one of a current value, a voltage value, a motor speed, and a motor acceleration when the motor 41 is driven.

  The parameter determination support device 11 estimates the circuit constant of the motor 41 based on the operation information received from the motor drive device 31. Further, the parameter determination assisting device 11 calculates an optimum parameter in accordance with the output specification of the motor 41 based on the circuit constant, and transmits the optimum parameter to the numerical control device 21. Here, the “circuit constant” includes, for example, at least one of the resistance value and the inductance of the motor 41.

  FIG. 2 is a functional block diagram of the parameter determination support device 11. The parameter determination support device 11 includes a control unit 111, a detection unit 112, and an input unit 113. Furthermore, the control unit 111 includes an acquisition unit 114, an initial parameter determination unit 115, a program creation unit 116, an automatic measurement unit 117, and estimation. A unit 118, a calculation unit 119, and a display unit 120 are provided.

The control unit 111 includes a CPU, a ROM, a RAM, a CMOS memory, and the like, which are known to one skilled in the art and configured to be able to communicate with each other via a bus.
The CPU is a processor that controls the parameter determination assisting device 11 as a whole. The CPU reads the system program and the application program stored in the ROM via the bus, and controls the entire parameter determination support device 11 according to the system program and the application program, as shown in FIG. A configuration 111 is configured to realize the functions of the acquisition unit 114, the initial parameter determination unit 115, the program creation unit 116, the automatic measurement unit 117, the estimation unit 118, the calculation unit 119, and the display unit 120. The RAM stores various data such as temporary calculation data and display data. The CMOS memory is backed up by a battery (not shown), and is configured as a non-volatile memory in which the storage state is maintained even if the power of the parameter determination assisting device 11 is turned off.

  The acquisition unit 114 acquires specification information of the motor drive device 31 and output specification information of the motor 41. In particular, the acquisition unit 114 acquires specification information of the motor drive device 31 from the detection unit 112 described later, and acquires output specification information of the motor 41 from the input unit 113 described later.

  The initial parameter determination unit 115 determines an initial parameter for trial operation based on the specification information and the output specification information acquired by the acquisition unit 114.

  The program creation unit 116 creates a test operation program based on the output specification information acquired by the acquisition unit 114. The trial run program is used for trial run for acquiring data necessary for adjustment of parameters that determine the output of the motor 41.

  The automatic measurement unit 117 applies the above-described initial parameters, and automatically measures the operation information when the motor 41 is driven by the above-described test run program.

  The estimation unit 118 estimates the circuit constant of the motor 41 based on the operation information measured by the automatic measurement unit 117. A known method may be used as a method of estimating the circuit constant based on the operation information.

  The calculation unit 119 calculates an optimal parameter in accordance with the output specification of the motor 41 based on the circuit constant estimated by the estimation unit 118.

The display unit 120 displays at least the operation information measured by the automatic measurement unit 117 on a display (not shown) provided in the parameter determination support device 11.
The display unit 120 may display information other than the driving information, for example, navigation information serving as a guide for the operator to input output specification information using the input unit 113 described later. The navigation information is not limited to the input method of the output specification information, and may include, for example, information such as the operation method of the parameter determination support device 11.
Furthermore, the display unit 120 also displays the estimated value of the circuit constant, the parameter used to estimate the circuit constant, the output waveform when this parameter is used, and the value of the optimum parameter calculated by the calculation unit 119. It is also good.

  The detection unit 112 is a device that detects specification information of the motor drive device 31, and is, for example, a sensor. The input unit 113 is an apparatus used by the operator to input output specification information of the motor 41, and is, for example, a keyboard or a touch panel.

  FIG. 3 is a configuration example of the numerical control device 21. As shown in FIG. The numerical controller 21 mainly includes a CPU 211, a ROM 212, a RAM 213, a CMOS 214, interfaces 215, 218, and 219, a programmable machine controller (PMC) 216, an I / O unit 217, an axis control circuit 230 to 234, and a spindle control circuit 260. Equipped with

  The CPU 211 is a processor that controls the numerical control device 21 as a whole. The CPU 211 reads a system program stored in the ROM 212 via the bus 220, and controls the entire numerical control device according to the system program.

  The RAM 213 stores temporary calculation data, display data, and various data input by the operator via the display / MDI unit 270.

  The CMOS memory 214 is backed up by a battery (not shown), and is configured as a non-volatile memory that retains its storage state even if the power of the numerical control device 21 is turned off. In the CMOS memory 214, a processing program read through the interface 215, a processing program input through the display / MDI unit 270, and the like are stored.

  In the ROM 212, various system programs for executing processing of an edit mode required for creation and editing of a processing program and processing for automatic operation are written in advance.

  Various processing programs can be input via the interface 215 and the display / MDI unit 270 and stored in the CMOS memory 214.

  The interface 215 enables connection between the numerical control device 21 and an external device 272 such as an adapter. A processing program, various parameters, and the like are read from the external device 272 side. The processing program edited in the numerical control device 21 can be stored in the external storage means via the external device 272.

  A PMC (programmable machine controller) 216 is a sequence program built in the numerical control device 21 and supplies a signal to an auxiliary device of the machine tool (for example, an actuator such as a robot hand for tool replacement) through the I / O unit 217 Output and control. Further, after receiving signals from various switches of the operation panel disposed on the main body of the machine tool, and performing necessary signal processing, the CPU 211 is passed to it.

  The display / MDI unit 270 is a manual data input device having a display, a keyboard and the like, and the interface 218 receives commands and data from the keyboard of the display / MDI unit 270 and passes them to the CPU 211. The interface 219 is connected to a control panel 271 provided with a manual pulse generator and the like.

  The axis control circuits 230 to 234 of the respective axes receive the movement command amounts of the respective axes from the CPU 211, and output the commands of the respective axes to the servo amplifiers 240 to 244. The servo amplifiers 240 to 244 drive the servomotors 250 to 254 of the respective axes in response to this command. The servomotors 250 to 254 of each axis incorporate position / speed detectors, and feed back position / speed feedback signals from the position / speed detectors to the axis control circuits 230 to 234 to perform position / speed feedback control. . In FIG. 3, position / speed feedback is omitted.

  The spindle control circuit 260 receives a spindle rotation command to the machine tool, and outputs a spindle speed signal to the spindle amplifier 261. In response to the spindle speed signal, the spindle amplifier 261 rotates the spindle motor 262 of the machine tool at a commanded rotational speed to drive the tool. A pulse encoder 263 is coupled to the spindle motor 262 by a gear, a belt or the like, and the pulse encoder 263 outputs a feedback pulse in synchronization with the rotation of the main shaft, and the feedback pulse is read by the processor 211 via the bus 220.

The servo amplifiers 240 to 244 and the spindle amplifier 261 correspond to the motor drive device 31 of FIG. 1, and the servo motors 250 to 254 and the spindle motor 262 correspond to the motor 41 of FIG.
The configuration of the numerical control device 21 shown in FIG. 3 is merely an example, and the present invention is not limited to this. A general-purpose numerical control device can be used as the numerical control device 21.

  FIG. 4 is a configuration example of the motor drive device 31. As shown in FIG. The motor drive device 31 includes an inverter 311, a current detector 312, a control unit 313, and a speed detection unit 314.

  The inverter 311 supplies a drive current to the motor 41. The current detector 312 detects a DC bus current of the inverter 311. The control unit 313 receives the output of the current detector 312 and performs PWM control of the inverter 311. The speed detection unit 314 detects the speed for feedback control of the motor 41, and transmits the detected speed to the control unit 313.

  The configuration of the motor drive device 31 shown in FIG. 4 is merely an example, and the present invention is not limited to this, and a general-purpose motor drive device can be used as the motor drive device 31.

FIG. 5 is a flowchart showing the operation of the parameter determination support device 11.
In step S <b> 1, the detection unit 112 detects specification information of the motor drive device 31, and the acquisition unit 114 acquires specification information from the detection unit 112.

  In step S 2, the operator inputs output specification information of the motor 41 from the input unit 113, and the acquisition unit 114 acquires the output specification information from the input unit 113.

  In step S3, the initial parameter determination unit 115 determines an initial parameter for test operation based on the specification information and the output specification information acquired by the acquisition unit 114.

  In step S4, the acquisition unit 114 acquires a test run program for trial operation for acquiring data necessary for estimation of a circuit constant of the motor 41 and adjustment of parameters for determining an output of the motor 41 in the program generation unit 116. Create based on the output specification information.

  In step S5, the automatic measurement unit 117 automatically measures the operation information such as the current value and the number of revolutions when the motor 41 controlled according to the test operation program is driven.

  In step S6, the display unit 120 displays the operation information automatically measured by the automatic measurement unit 117 on a display (not shown). Thereby, the operator can determine whether the parameter determined in the following step S8 is appropriate while directly confirming the measurement data.

  In step S7, the estimation unit 118 automatically calculates and estimates the circuit constant of the motor 41 based on the operation information automatically measured by the automatic measurement unit 117.

  In step S <b> 8, the calculation unit 119 calculates and determines an optimal parameter according to the output specification of the motor 41 based on the circuit constant estimated by the estimation unit 118. Thus, the operation flow of the parameter determination assisting device 11 ends.

  In the flowchart shown in FIG. 5, after the process of step S8 is performed, the processes after the step that is traced back to the previous step may be performed. For example, after the parameter determination support device 11 determines one parameter among the plurality of parameters in step S8, another parameter may be determined by again executing the process of step S4 and subsequent steps.

  The parameter determination support device 11 applies initial parameters, automatically measures the operation information when the motor 41 is driven by the test operation program, and estimates the circuit constant of the motor 41 based on the operation information. Based on the circuit constant, the optimum parameter in accordance with the output specification of the motor 41 is calculated.

  This makes it possible to simplify the determination of drive parameters when driving a motor whose circuit constant is unknown and to reduce the time required for the determination.

  Further, the parameter determination support device 11 further includes a display unit 120 that displays the measured driving information.

  As a result, the operator can determine the optimum parameter after determining the validity of the parameter by confirming what logic the parameter is determined and as a result the output.

  Each of the devices included in the above parameter determination support device 11 can be realized by hardware, software, or a combination thereof. The parameter determination method performed by each device included in the above-described parameter determination support device 11 can also be realized by hardware, software, or a combination thereof. Here, to be realized by software means to be realized by a computer reading and executing a program.

  The programs can be stored and provided to a computer using various types of non-transitory computer readable media. Non-transitory computer readable media include tangible storage media of various types. Examples of non-transitory computer readable media are magnetic recording media (eg flexible disk, magnetic tape, hard disk drive), magneto-optical recording media (eg magneto-optical disk), CD-ROM (Read Only Memory), CD- R, CD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)) are included. Also, the programs may be supplied to the computer by various types of transitory computer readable media. Examples of temporary computer readable media include electrical signals, light signals, and electromagnetic waves. The temporary computer readable medium can provide the program to the computer via a wired communication path such as electric wire and optical fiber, or a wireless communication path.

Reference Signs List 1 motor drive system 11 parameter determination support device 21 numerical control device 31 motor drive device 41 motor 111 control unit 112 detection unit 113 input unit 114 acquisition unit 115 initial parameter determination unit 116 program creation unit 117 automatic measurement unit 118 estimation unit 119 calculation unit 120 Display

Claims (7)

Acquisition means for acquiring motor drive device specification information and motor output specification information;
Initial parameter determination means for determining an initial parameter for trial operation based on the specification information and the output specification information;
Program creation means for creating a test operation program, which is used for trial operation for acquiring data necessary for adjustment of a parameter for determining the output of the motor based on the output specification information;
Automatic measurement means for automatically measuring operation information when the motor is driven by applying the initial parameters and using the test run program;
Estimation means for estimating a circuit constant of the motor based on the operation information;
And a calculation unit configured to calculate an optimum parameter according to the output specification of the motor based on the circuit constant. Detection means for detecting the specification information;
And an input unit for the operator to input the output specification information.
The parameter determination support device according to claim 1, wherein the acquisition unit acquires the specification information from the detection unit, and acquires the output specification information from the input unit.   The parameter determination assisting device according to claim 1, wherein the specification information includes at least one of an allowable current value and a driveable frequency of the motor drive device.   The parameter determination assisting device according to any one of claims 1 to 3, wherein the output specification information includes at least one of a rated output and a base rotational speed of the motor.   The parameter determination assisting device according to any one of claims 1 to 4, wherein the circuit constant includes at least one of a resistance value and an inductance of the motor.   The parameter determination support device according to any one of claims 1 to 5, wherein the operation information includes at least one of a current value, a voltage value, a motor speed, and a motor acceleration when driving the motor. .   The parameter determination assisting device according to any one of claims 1 to 6, further comprising display means for displaying the measured driving information.

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